// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.

#include "main.h"
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/QR>

template<typename LineType>
void
parametrizedline(const LineType& _line)
{
	/* this test covers the following files:
	   ParametrizedLine.h
	*/
	using std::abs;
	const Index dim = _line.dim();
	typedef typename LineType::Scalar Scalar;
	typedef typename NumTraits<Scalar>::Real RealScalar;
	typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType;
	typedef Hyperplane<Scalar, LineType::AmbientDimAtCompileTime> HyperplaneType;
	typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, HyperplaneType::AmbientDimAtCompileTime> MatrixType;

	VectorType p0 = VectorType::Random(dim);
	VectorType p1 = VectorType::Random(dim);

	VectorType d0 = VectorType::Random(dim).normalized();

	LineType l0(p0, d0);

	Scalar s0 = internal::random<Scalar>();
	Scalar s1 = abs(internal::random<Scalar>());

	VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(p0), RealScalar(1));
	VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(p0 + s0 * d0), RealScalar(1));
	VERIFY_IS_APPROX((l0.projection(p1) - p1).norm(), l0.distance(p1));
	VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(l0.projection(p1)), RealScalar(1));
	VERIFY_IS_APPROX(Scalar(l0.distance((p0 + s0 * d0) + d0.unitOrthogonal() * s1)), s1);

	// casting
	const int Dim = LineType::AmbientDimAtCompileTime;
	typedef typename GetDifferentType<Scalar>::type OtherScalar;
	ParametrizedLine<OtherScalar, Dim> hp1f = l0.template cast<OtherScalar>();
	VERIFY_IS_APPROX(hp1f.template cast<Scalar>(), l0);
	ParametrizedLine<Scalar, Dim> hp1d = l0.template cast<Scalar>();
	VERIFY_IS_APPROX(hp1d.template cast<Scalar>(), l0);

	// intersections
	VectorType p2 = VectorType::Random(dim);
	VectorType n2 = VectorType::Random(dim).normalized();
	HyperplaneType hp(p2, n2);
	Scalar t = l0.intersectionParameter(hp);
	VectorType pi = l0.pointAt(t);
	VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1));
	VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1));
	VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi);

	// transform
	if (!NumTraits<Scalar>::IsComplex) {
		MatrixType rot = MatrixType::Random(dim, dim).householderQr().householderQ();
		DiagonalMatrix<Scalar, LineType::AmbientDimAtCompileTime> scaling(VectorType::Random());
		Translation<Scalar, LineType::AmbientDimAtCompileTime> translation(VectorType::Random());

		while (scaling.diagonal().cwiseAbs().minCoeff() < RealScalar(1e-4))
			scaling.diagonal() = VectorType::Random();

		LineType l1 = l0;
		VectorType p3 = l0.pointAt(Scalar(1));
		VERIFY_IS_MUCH_SMALLER_THAN(l1.transform(rot).distance(rot * p3), Scalar(1));
		l1 = l0;
		VERIFY_IS_MUCH_SMALLER_THAN(l1.transform(rot, Isometry).distance(rot * p3), Scalar(1));
		l1 = l0;
		VERIFY_IS_MUCH_SMALLER_THAN(l1.transform(rot * scaling).distance((rot * scaling) * p3), Scalar(1));
		l1 = l0;
		VERIFY_IS_MUCH_SMALLER_THAN(
			l1.transform(rot * scaling * translation).distance((rot * scaling * translation) * p3), Scalar(1));
		l1 = l0;
		VERIFY_IS_MUCH_SMALLER_THAN(l1.transform(rot * translation, Isometry).distance((rot * translation) * p3),
									Scalar(1));
	}
}

template<typename Scalar>
void
parametrizedline_alignment()
{
	typedef ParametrizedLine<Scalar, 4, AutoAlign> Line4a;
	typedef ParametrizedLine<Scalar, 4, DontAlign> Line4u;

	EIGEN_ALIGN_MAX Scalar array1[16];
	EIGEN_ALIGN_MAX Scalar array2[16];
	EIGEN_ALIGN_MAX Scalar array3[16 + 1];
	Scalar* array3u = array3 + 1;

	Line4a* p1 = ::new (reinterpret_cast<void*>(array1)) Line4a;
	Line4u* p2 = ::new (reinterpret_cast<void*>(array2)) Line4u;
	Line4u* p3 = ::new (reinterpret_cast<void*>(array3u)) Line4u;

	p1->origin().setRandom();
	p1->direction().setRandom();
	*p2 = *p1;
	*p3 = *p1;

	VERIFY_IS_APPROX(p1->origin(), p2->origin());
	VERIFY_IS_APPROX(p1->origin(), p3->origin());
	VERIFY_IS_APPROX(p1->direction(), p2->direction());
	VERIFY_IS_APPROX(p1->direction(), p3->direction());
}

EIGEN_DECLARE_TEST(geo_parametrizedline)
{
	for (int i = 0; i < g_repeat; i++) {
		CALL_SUBTEST_1(parametrizedline(ParametrizedLine<float, 2>()));
		CALL_SUBTEST_2(parametrizedline(ParametrizedLine<float, 3>()));
		CALL_SUBTEST_2(parametrizedline_alignment<float>());
		CALL_SUBTEST_3(parametrizedline(ParametrizedLine<double, 4>()));
		CALL_SUBTEST_3(parametrizedline_alignment<double>());
		CALL_SUBTEST_4(parametrizedline(ParametrizedLine<std::complex<double>, 5>()));
	}
}
